DE1588219A1 - Stabilization control system - Google Patents

Description

1588-19

Dr.-Ing. WILHELM REICHEL PATENT ADVOCATE Telephone: Frankfurt 06Il / 5591 65 β FRANKFURT / MAIN I Telegram: Frankfurt Pattntroa PARKSTRASSE Postal check: Pfm. 468 30

dta.

4952

General Electric Gompany, Schenectady, N.Y., U.S.A.

Stabilization control system

The invention relates generally to a servo-mechanical leverage system, and more particularly, it relates to an electrical one servomechanical system to automatically hold an inertial mass in any particular inertial position. In particular, the invention relates to high power electrical servomechanical control, in which stabilizes a moving platform of high inertia against migration by means of feedback elements connected to it will.

In known control systems of this type, a mass of high inertia is controlled by a closed feedback loop containing system stabilized in space, with a servomotor connected to the mass acting on the mass Counteracts disruptive movements. A switchable DC motor serves as the main drive for the inertial mass and is supplied with an electrical voltage, the polarity and amplitude of which depends on an emitter signal that is generated by comparing a position input signal with a position feedback signal in the servo amplifier. Other

1 09808/04 BO · / ■

error signals different from this error signal become generally derived from the main axis of the movably suspended platform with one or more sensing devices, which are directly connected to the platform in known systems to detect movement in space. In previous control systems, the platform with the servo motor was via a device for reducing the speed connected, which is generally a reduction gear reduction gear that provides the required torque. the mechanical force is derived from a conventional high-speed Motor derived, which down-converts to speed ratios in the range of 300: 1 to 1000: ' introducing many undesirable influences on the high-performance servo control. These influences include additional inertia, sometimes greater than that of the platform, as well as slippage, suspension and friction as well as mechanical resonances in the transmission.

The device for reducing the speed in servo drives has already been eliminated by using a direct drive system. In this system one controls Servo power drive one slowly around! on ends electric motor, which with the load over a continuous massive essentially rigid element is connected.

It has now been found that, although speed reducing devices are used, there are performance gains to be obtained which have heretofore been considered characteristic for the direct drive servo system. In addition, with a drive with a speed reduction given desirable behavioral traits including lighter weight and smaller size

109808/0450

compared to direct driving main drives will. With this solution, advantages can be achieved which are common to both systems.

The invention includes a closed loop servo system and uses a switchable DC motor, which is connected to the platform via a device for reducing the speed. This facility is characterized in that the engine and the Means for reducing the speed inertia formed only a · small percentage of the inertia of the entire system. Limiting inertia is achieved with a minimum of torque Elements achieved, as far as that with the torque requirements gen for platform stabilization is to be agreed. on This way, the inertia of the entire drive line is below a considerable expenditure of energy Accelerating the inertial mass of the motor and the device associated therewith for reducing the speed required value held to a movement of tr & gneits to change the stabilized platform. The platform will thereby isolated from the harmful influence which basic movements can be transmitted through the drive train.

In general, the essence of the present invention can be understood by referring to a mathematical relationship, which the inertia reflected by a drive line can be explained as follows:

where J *. the inertia of the motor and the device. Reduce the speed in relation to the mass

is (mass χ distance);

109808/0450

Jg the inertia of the motor and the device for Reducing the speed on the engine eats (mass

ο
χ distance);

i * is the gear ratio of the gearbox.

The total inertia of the system can thus be represented by the following mathematical equation:

J ₁ - J _L + J _M (2)

where J _{m is} the total inertia of the system

2
(Mass χ distance)

Jt is the inertia of the platform load (mass χ distance)

Jj- the inertia of the motor and the device for ' Reducing the speed in relation to the mass is (mass χ distance) j

If the ratio Jfj / Jfji has a calculated percentage Has a value of less than 15 #, then it is on the platform database in accordance with the inertia reflected from the drive section, there is hardly any adverse influence noticeable. Accurate stabilization was achieved with a system that tested at ratios from 0.05% to 5 # became. The reduction ratio for the speed with The point at which these results are achieved depends on both the engine inertia characteristics and the torque requirements of the system as well as other parameters for the special application. Therefore it is not possible a sufficient complete generalization as to the reduction ratio for speed

109808/0450

to be specified for all systems. For the sake of further illustration it should be stated that gear ratios in Range from 40: 1 to 4: 1 will get the results you want in a system with a slow and heavy throttling Torque running servo motor with less reflected inertia at lower gear ratios has been generated. An increase in the platform mass allows higher gear ratios to achieve comparable results, which reduces the danger even further when the gear ratios deviate from the general principles given above. The drive line described in general above is for a precise stabilization of the platform with devices for determining the movement in space and servo devices connected to control the motor. The device for reducing the speed for the drive line can consist of gears or other mechanical connections exist, the crank and lever combinations or the like. Include.

In its basic structure is in the present servo control system the drive line, which is built up with little reflected inertia, is connected to the platform. The facilities to determine a movement in space provide a signal which is characteristic of the platform movement. This signal is converted by the electrical servo part of the system and provides a feedback signal for stabilization for the motor of the drive train. The electrical components and circuitry that make up the feedback loop of the servo part of the control system are designed and connected in such a way that the plates

109808/0450

form stabilized over a relatively wide frequency range with regard to the basic movement effective on the input side is. The signal that characterizes the movement in space is slightly amplified in a servo amplifier, which provides an error signal for a sensed force amplifier from which the control signal for the motor is derived. This special power amplifier, which will be described in more detail below, allows one for the servo process large bandwidth through the use of a switching frequency that is significantly higher than that of the desired servo bandpass. Additional electrical feedback can be introduced into the servo portion of the system to improve performance will. A current feedback signal in the servo improves the isolation between the motor ground and the platform ground at high frequencies and causes fewer errors in servo action. The servo control system can be used with other be equipped with additional features that provide further operational advantages. An integrated circuit for the servo amplifier can be provided as a memory location for the system, which the platform in a Certain spatial position returns after temporarily occurring disturbing torques that reduce the torque output of the System are eliminated. In a similar way, a maximum current limit can also be set in the circuit for the Servo part of the system can be inserted to prevent overloading of the motor or the power amplifier. the Main devices for determining the spatial movement of the platform can be an accelerometer, a gyro or similar institutions.

In a preferred embodiment of the invention, an error signal from the position in the servo control part of the system

109808/0450

derived from the platform. An acceleration of the platform along its height and transverse axis is measured with one or more gyroscopes connected to it. As long as the Speed of movement in space, as measured with one or more gyroscopes, with the servo control part of the system is kept on gauze, the platform remains in a stationary position in space. To use the platform in To move to another spatial position, a setpoint signal can be fed into the servo circuit, which the Platform adjusted until the speed measured by one or more gyroscopes with the speed ssollwert agrees. The gyro signal is applied to a servo amplifier, which also has the usual input signals altogether receives setpoint signals. A feedback amplifier along with associated circuitry is connected as feedback between the DC motor and the servo amplifier in order to drive the platform to isolate improved stabilization against disruptive movements of the base. In the motor circuit there is advantageously a Shunt provided, which supplies a current proportional to the current of the motor, and thus the system with a further feedback signal provided. The one with the current feedback amplifier The connected circuit limits the peak current supplied to the DC motor. The speed feedback signals of the control gyro, the current feedback and the current limit signals will all be discussed later Veise described in detail merged to form a compensated and to provide a properly limited error signal for a DC booster operating between the Servo amplifier and the servo motor is switched. This booster delivers one according to polarity and amplitude

109808/0450 ORIGINAL BATHROOM /

- ο -

voltage corresponding to the control command of the servo amplifier. The use of a keyed force amplifier built in solid-state technology provides a short time constant, which, together with the relatively short time constant of the system's transmission chain, ensures precise overall control ensures.

The drive line in the above-described servomechanical control system containing a bandpass comprises a non-switchable direct current motor which is connected to a reduction gear. This combination provides the torque required for the stabilization movements of the platform at the relatively low inertia ratio J ^ / J ^ explained above. The usual high-speed servomotors, which rotate at around 1ΘΟΟ revolutions per minute and more, cannot be used because of the very high rotor inertia. In order to overcome the inherent high rotor inertia inherent in the available switchable DC motors, it is necessary to use a motor which can provide high torque at a much slower speed of about 300 revolutions per minute. The inertia contributed by the motor itself, represented by the designation J _H , can be kept at a comparatively low value. Reducing the motor speed also lowers the gear ratio of the selected device for reducing the speed, which conveniently reduces the slip and friction losses in the servo response. The special combination of a low-speed motor with a speed reduction in the range of approximately 4-: 1 to 40; 1 leads to such relatively low J ^ values. There are more in the

109808/0450 ^/

"" 9 -

Comparison with conventionally translated drives with regard to servo performance benefits from low J, v values can be derived. In particular, there is a higher mechanical resonance frequency than is possible with a conventional drive as an additional gain from a low J "value achievable, although the stiffness of the transmission is not greater. This gain becomes visible when considering the relationship for the energy transfer function in an attitude servo system. The resonance frequency of a motor, which is connected to the load via an intermediate transmission is given by:

^tf n - ( ^J M + ³ I? * S

where W is the undamped resonance frequency (fiadius / sec.) j

Jj, the inertia of the motor and the device for Reduce the speed in relation to the mass (Mass χ distance) j

J, is the inertia of the platform mass (mass χ distance);

Kn is the spring constant of the additional gear (weight χ distance / radius).

Thus, for a given stiffness (K _& ) and an inertial mass (Jt), it is derived from equation (J) that the resonance frequency increases as J decreases. In this way, servo systems with a greater bandwidth than with the high-speed _{motors k} hitherto available can be obtained, whereby the present invention can be used to the greatest extent for the most diverse fields of application.

109808/0450

- ίο - '

It is not intended to limit the present invention to the particular combination of a low-speed motor and the above-mentioned ratios for speed reduction. Once an improvement in servo performance is achieved as compared to conventional speed reduction drives with relatively low Y "values, it will be apparent that other means exist to achieve these results. By eliminating the high rotor inertia that traditionally characterizes high-speed servomotors, it is possible to use higher gear ratios for speed reduction without increasing the J _M value. While the increase in friction and slip in the servo systems is expected at higher gear ratios, in a particular application all disadvantages could be offset by a lower torque required for the motor and an improved efficiency due to the higher motor speed. From these considerations it follows that the requirements of the invention for the drive line are met as long as the added values of the motor inertia and the inertia for the device for reducing the speed are kept at a few percent of the system inertia caused by the platform and its loading given is. High-speed, switchable DC motors that will be available in the future, which are characterized by a low rotor inertia and which deliver a significant output torque at higher speeds, have made exclusive combinations possible up to now. Therefore, in the broadest sense, the invention considers speed-reducing drive servo systems in which the J "value is always small compared to the J ^ amount, which is surprising in view of the principle that is valid when developing servo systems that the system performance is always a

109808 / OASQ

Compromise regarding the equipment used »um Represents reducing speed.

An exemplary embodiment of the invention is shown in the drawing Pictured: Show it

Fig. 1 is a block diagram of an electromechanical servo system according to the invention for stabilizing the ' Platform movement along an ego}

2 shows a block diagram for a servo amplifier according to Figure 1}

3 is a detailed block diagram showing the principal Shows elements of the servo device making up the control system of FIG. 1;

4 shows a block diagram for a two-axis control system according to the invention.

In the drawing, all figures represent the same elements The same reference numerals are used in each case.

In FIG. 1, a preferred embodiment of the invention for use with high disturbance torques is described, at which is a gyroscope with a magnitude and speed of freedom of movement, with its sensitive axis aligned with either the vertical or transverse axis of the platform is. A second speed gyro is preferred with its sensitive axis oriented at right angles to the axis of the first gyro. The gyro arrangement described is generally used for two-axis stabilization of the platform, with separate one from the elevation and the transverse axis derived error signals individual drive lines drive in a manner described later. Since essentially -

BATH ORIGINAL

109808/0450

lichen the same servo elements for this purpose in each stabilized axis are used, only the arrangement of a single axis needs to be considered. Accordingly the position of the platform 10 with respect to the height axis is determined by a switchable, low-speed direct current motor 12 recorded, which is connected to the platform by a reduction gear 14- to the platform in Compared to the Hasse to be stabilized, it can be driven with a small motor and gearbox inertia. A single axis speed gyro 16 is rigidly attached to the platform, and provides a speed signal indicative of movement is proportional to the platform in the tree. The speed gyro preferably has integrating properties for greater accuracy compared to conventional To achieve speed gyroscopes. In the exemplary embodiment, the position stabilization is achieved by that the speed signals as measured by the two gyroscopes; by appropriate servo elements Hull, whereby the platform is held in any predetermined spatial position. this will achieved by comparing the signals picked up at the gyroscopes, with torques as long as the various Gyro axes are generated, Us all signal derivatives in essential disappear. In Figure 1, in the interests of clarity, only the servo loop is for the elevation axis However, it follows that a similar arrangement can be used for cross-axis stabilization. Depending on Various devices can be used to reduce the performance criteria to be applied to stabilize the specific axes the speed in the drive line. For example, a crank and a lever linkage provide which is connected to a servomotor, a suitable reduction in speed along an axis on which only limited movement occurs.

109808/0450

A control stage 18 represents a merging point in the Servo control loop for supplying the control signals in the event that the platform from its inertia stabilized Location should be brought into a different spatial orientation. The DC position signals are fed to a servo amplifier 20, which is a composite of the position signal, the signal supplied by the gyro and the current feedback Error signal for the booster 22 delivers. As long as no position input signal is applied to the servo amplifier its output consists of a stabilization signal counteracting any disturbing movements of the platform. The revolving top continuously measures the deviations the rotary axis of the gyro from its zero position. The drive line moves the platform until the speed signals from the gyro and the position input signal are the same. A current feedback loop 24 conducts a continuous Signal from a shunt in the servomotor circuit, which is proportional to the motor current. The current feedback signal is amplified in an amplifier 26 which is connected to a network to limit the maximum current supplied to the servomotor is provided, and provides a tracking for the motor speed in the interest of a fast servo response.

During operation, the gyro speed signal and the set current feedback signal are combined in the servo amplifier, to provide an output error signal that is fed directly to the booster to control the servo motor will. This represents a simplification of known servo systems using unified gyro and current feedback, where the gyro speed signal is differentiated before using the current feedback signal is interconnected. The composition of the signals, such as

109808/0450 '/

-rr »

It is the embodiment example that brings considerable benefits Advantages in terms of performance and in particular in terms of torque response, with no or only a slight increase in costs in relation to the overall system connected is. If one provides an integrating circuit as the lowest first stage for the amplifier As an additional benefit, you get a position memory and a high gain at a low frequency of movement .

In Figure 2 is a preferred embodiment of the servo amplifier shown in FIG. The amplifier 20 concatenates the input position signal (setpoint value), the speed signal of the gyro, the current feedback signal with a signal for current limitation and applied to the Force amplifier with a stabilized and compensated and appropriately limited signal. Integrating Circuit features in the servo amplifier provide a position memory for automatic return to a setpoint position in the event that interference torques affect the servomotor exceed valid nominal values. Accordingly, the position input signal and the speed signal of the Gyro placed directly on a preamplifier 28, with the a feedback loop 350 for high gain low frequency is connected. This leaves errors due to a hating or external torque, the basic movement and the drift of the servo amplifier is small. A position limit signal, which in a conventional manner does not come from one shown tachometer and potentiometer, which are connected to the servomotor, is derived via a Resistor 32 is fed to the DC amplifier 3W-, wherein the output signal of the amplifier in the form of a constant

1098Q8 / 0A5Q

voltage in relation to the position and speed of the platform indicates any particular borderline. The output signal of the amplifier is fed to two zener diodes 36 and 38 which are connected together to form one Have insensitivity range in order to limit the value of the voltage signal at connection point 40. The voltage signal at this point is proportional accordingly the approach of the platform to the boundary layers is reduced in order to reduce the flatform speed su there. A current feedback signal from the servomotor circuit, not shown, is amplified in the DC amplifier 42, whose output signal is applied to a network 44. That

one

Network is used to filter the signal through a / series connection from a capacitance 46 and a resistor 48 having advance circuit, with which the inertia time constant of the servomotor is set. In this way, the current feedback signal helps the transition function to stabilize of the servo. A maxijud current limitation for the servomotor is obtained in that the current feedback si gnal via two further Zener diodes 50 and 52 from DC amplifier 42 connected in parallel to point 54 is fed. These diodes are in turn connected to one another in such a way that they have an insensitivity range and limit the signal value at point 54. Thus the signals coming from the servo amplifier for current and Voltage regulated so that the application of improper torque or improper electrical commands the servo motor is prevented. At point 40, the integrated speed signal of the gyro and the attitude input signal connected to the position limit signal, and fed to a DC summation amplifier 58 via a resistor 56. Sin another input signal for the summation

109808 / (HSO - / -

amplifier forms the balanced current feedback signal, which is derived from the lead network 44. The output signal of the summing amplifier is passed on to the force amplifier 22 via resistors 60 and 62, and supplies a appropriately limited input error signal.

For operation, the servo amplifier is provided with a memory that automatically returns the platform in any pre-ordered position after the Platform had been moved to an extreme position. Once the conditions caused by reaching a limit position will disappear, the platform automatically reverses back to the commanded position. The signal limiting features of the servo amplifier prevent the need high torques and currents when the platform has a ' Has reached an extreme position.

The essentials are shown in a detailed block diagram in FIG Elements for the servo part of a control system according to FIG. 1 are shown. In the embodiment according to FIG is the DC summing amplifier 58 in two parts 58 and 58a, thereby providing a current limit signal to this amplifier at a known impedance value can be. Another feature of the amplifier portion 58a is in the lead network connected to it to adjust the output signal gain at different frequencies. In the exemplary embodiment, the lead networks serve to reduce mechanical resonances in the servo part, in which the servo loop gain at frequencies associated with the mechanical resonances is reduced. Accordingly, an input position signal is generated along with the Speed signal of the gyro and the signal for zero speed

109808/0450

setting to the preamplifier stage 28 of the servo amplifier 20 created. This pre-amplifier stage contains a lead network 30 to generate high signal amplification with low .Frequency. A filter arranged in the preamplifier ^ 64 prevents the transmission of the amplified signal at undesired frequencies. The filtered output signal is part of the Summing amplifier 58 supplied and there with the current feedback signal , as already described, united. The current feedback signal is preceded in the DC amplifier 42 amplified and given over the lead network 44 to the summing amplifier. The current limit signal is amplified by the Current feedback signal over a connection line passed from the output side of the current feedback amplifier sum connection point 66, which the two parts 58 and 58a of the summing amplifier connects. Two zener diodes 50 and 52 in the current limiting path prevent the signal value at connection point 66 from being determined by the maximum Zener voltage Value exceeds. In operation, the network 42 can have a further circuit with a differential amplifier (not shown) included to provide an error signal between the amplified current signal and the output of part 58a of the summing amplifier. The modified structure even results in greater precision in the servo function. That Gyro speed feedback signal for preamplifier stage 28 is provided by electrical indicators from the pick-off element and the torque motor (support motor) of a conventional integrating speed gyro 16 is generated. The pick-off elements, not shown, provide a speed xgKeit- and positional information in relation to the platform, as schematically in the exemplary embodiment by the dashed line Line 68 is shown. The measured variable represents an alternating current signal. which in the gyro exit before stronger? 0 reinforced: vf.-t, mid dai.u in e.iiem

EAC OBiGiNAL 109808/0450, -

Sensitive demodulator 72 is demodulated to a DC velocity signal to create. The DC speed signal is fed to a DC amplifier 7 ^ and then with the signal from the support motor of the gyro fed into the preamplifier stage 28. The integrating speed gyro arrangement described represents the The main feedback of the servomechanical control system and is used to automatically stabilize the platform against Disturbing torques and basic movements.

The composite error signal, which is contained in part 58 of the Summing amplifier is generated is at junction 66 for further amplification in part 58a of the servo amplifier properly limited. The final output signal of the servo amplifier forms a stabilized, compensated and correctly limited error signal which controls the force amplifier 22. To achieve a wide servo bandwidth in the system along with good electrical sensitivity, an in Solid-state technology built, tactile force amplifier related. The wide bandwidth is achieved by using a A - "! Tfrequency achieved, which is essentially above the frequency range of the desired servo bandpass. The average applied to the servo motor 12 by the booster 22 3 voltage is determined by the ratio of the switch-on time determined for the entire scanning period. In order to make the servo motor rotate in one direction, certain Switch in the power amplifier closed at some sampling frequencies. A frequency reference si> -nai 76 becomes the input error signal added as Mirtel to control the power amplifier.

During operation, the constant servo amplifier adds up the speed signal Ie-- gyro ind the actual value signal and

1098U8 / 0450

connects it to the current feedback signal to generate an error signal which the tactile force amplifier controls. The gyro's feedback devices contain a DC amplifier, which is the gyro output amplifier drives. The error signal from the servo amplifier is connected to a frequency reference signal in order to operate the booster so that the output voltage to the servomotor varies with the switch-on time. The direction of rotation of the switchable DC motor is determined by the Selection of closed switches in the power amplifier controlled. In the case of the zero error signal, the amplifier switches s open. The servo motor is coupled to the platform 10 via a reducing device 14 in such a way that the combined Inertial masses of the motor and the gearbox are small in relation to the inertial mass of the platform The automatic platform stabilization is carried out in the executed construction with great accuracy, as well as an exact height and lateral stabilization of the platform is possible.

In Figure 4-, the servo block diagram is according to the invention two-axis servomechanical control system. Only the part of the stabilization with the speed gyro was shown, so that the general electrical connections between the elevator and aileron servo drives are easier to understand. Basically, the representation contains a electrical circuit diagram for interconnected speed gyros, those used to stabilize inertia and to drive the associated platform along the height and transverse axes can be used. To get the required speed signal are a pair of integrators Speed gyro along their corresponding gyro

EAD ORIGINAL

109808/0450. /

axes of rotation aligned perpendicular to each other and in one Gyro block mechanically coupled to the platform. In the illustration are those in the individual drive units of the composite system used the same components provided with the same reference numerals.

The drive unit for the altitude servo 76 includes one integrating speed gyro 16, which is interconnected with servo elements so that it controls the position of the regulates platform not shown. The top develops a signal that is proportional to the position of its axis in space is, which in connection with the gyro motor and associated servo elements generates a torque about the gyro output axis causes to rotate the gyro in space around its input axis or to align it. As soon as the When the platform reaches the desired position, this position is automatically maintained by gyro stabilization Gyro reference generator 79 drives the gyro drive, not shown. The altitude input signal is combined with the gyro feedback signal chained in the servo amplifier 20. A Converter 80 regulates the DC power supply to all of the amplifiers in the servo unit. That composite error signal of the servo amplifiers controls the tactile force amplifier 22, which drives the servo motor 12. The gyro feedback loop includes the integrating speed gyro 16, which is connected to a gyro output amplifier 70, a phase sensitive demodulator 72 and a DC amplifier 74 is connected in such a way that one of the speed proportional signal is generated in inertial space. The speed signal represents a composite output Signals are generated by integrating tapping elements, not shown, and the support motor of the

109808/0450

Gyroscopic. An AC tap signal is amplified in gyro output amplifier 70, then demodulated in the phase-sensitive demodulator 72, the Determines the polarity and amplitude of the input signal, and then the demodulated signal is fed into the DC amplifier fed in. The resulting direct current signal is combined with the output signal of the support motor, and supplies the speed error signal for the servo amplifier 20. The gyro reference generator 79 supplies the executed construction a reference frequency for the demodulator.

The servo elements for the transverse axis control are in the same way 82 interconnected. The elements of the transverse axis control that correspond to those of the elevation axis control, are marked with the same reference numbers, but with an additional prime. That's how it is Gyro 16 in the unit for the servo control around the Raising axis in the servo control around the transverse axis with gyro 16 'to indicate that it is an im essentially the same component. The circuit for the servo control around the transverse axis also corresponds to this Circuit for the servo control around the height axis, so that a special description of this part is not necessary. The remaining common connections of the two units are used to connect components with regard to their Mode of operation are independent of each other, to be supplied with signals of the same value. The common circuit gent from the gyroscopic reference generator 79, which the Stützziofcoren for the gyro drives, and a frequency reference social feeds the demodulators. To simplify the Daruteilurig was this circle reference generation; or merely, by

BATH ORIGINAL 109808/0450

a block shown, the generator in a known manner from an LG oscillator, a phase splitter and amplifier with transformer-coupled outputs. The signals are sent to the demodulators via a ljeituxif ?; 84 while the signals to the gyroscopic support motors are applied over line 86. Each top will be and each demodulator operated completely independently of its counterpart.

Claims

109808/0450

Claims (1)

Claims ι. Syrvoregelsystem for the .stabilization of an inertial mass i :: e.:;.'ir certain inertial lat ^ e, which a freely movable i-In si. form, characterized in that Gin uias ehaltable dc motor is coupled to the platform via a device for hedging the speed in such a way that the inertia of the motor and the device for reducing the speed is small compared to the inertial mass, that a detector is provided which supplies a signal which indicates the migration of the platform from a certain position, and that an electric servo device is provided which converts the signal characterizing the migration of the platform for the control of the motor, the servo unit not being a tactile amplifier which is activated by the stabilization signal. 2. Servo control system according to claim 1, characterized in that g e k e n η ζ ei c h η e t that the electric servo device one Contains servo amplifier, which generates a stabilization signal from the signal that moves the platform. 109808 / 0A50 / J. Servo control system according to Claims 1 and 2, characterized in that the detector has a speed ssignal for generating a stabilization signal proportional to the displacement of the platform in space and the a tactile amplifier connected between the servo amplifier and the motor. 4. Servo control system according to claim 3, characterized in that the means for reducing the speed a reduction gear connected between the platform and the motor contains that the detector with a gyro feedback is provided, and that the electric servo further includes a current feedback to generate the stabilization signal in conjunction with the speed signal of the gyro. 5. Servo control system according to claim 4, characterized in that the current feedback supplies the servo amplifier with a signal proportional to the motor current and with a current limiting signal, and that the servo amplifier has a limited stabilization signal by combining the speed signal of the gyro with the current Biickkopplungssignal and the Current limit signal generated. 109808/0450 / 6. Servo control system according to one or more of the claims the 1 "to 5» characterized in that / servo amplifier responds to setpoint signals to move the platform to a desired location. 7. Servo control system according to claim 6, characterized in that the servo amplifier has a position limiting signal supplies, which indicates the position of the platform in relation to a certain limit position. 8. Servo control system according to claim 7 »characterized in that the setpoint signal with the speed ssignal of the gyro in a part of the servo amplifier to derive a first error signal is linked that this first error signal with the current feedback signal, the position limit signal and the current limit signal in is linked to another part of the servo amplifier to produce a limited output error signal, and that the tactile amplifier uses a switching frequency that is above the mechanical resonances of the system and of the output error signal to control the motor. 109808/0450 9. Servo control system according to claim 8, characterized in that g e k e η η draws that the tactile amplifier has an output voltage generated, which is determined by the ratio of the switch-on time to the total switching period. 109808 / 0A50